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Electronic Supplementary Material Supplementary material is available for this article at https://doi.org/10.1007/s11432-018-9623-3 and is accessible for authorized users.
The inverted pendulum robot (IPR) system is non-linear and underactuated. On undulating pavements, the tilting angle of the surface is a function of the vehicle displacement and changing over time. In fact, the control objective of IPRs on undulating pavements is more complex and challenging than on the horizontal case. In this paper, the dynamic model of IPRs on undulating pavements is established...
As a typical underactuated system, the two-wheeled self-balance robot (TWSBR) is similar to the wheeled inverted pendulum in structure. There have been plenty of studies about TWSBRs operated on the horizontal plane; however, sometimes TWSBRs need to move on non-flat ground, e.g., slopes. To tackle the control problem of TWSBRs when they move on an inclined slope, the dynamic model of TWSBRs on the...
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